Adaptive Sliding-Mode Position Control for Dielectric Elastomer Actuators

Hoffstadt, Thorben; Maas, Jürgen

doi:10.1109/tmech.2017.2730589

Cited by 47 publications

(17 citation statements)

References 33 publications

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“…The feedback control was designed to obtain high precision in work [10] and the compensation of hysteresis was proposed in work [11]. The sliding model control was used to build the controller in work [12]. The simple alternative was proposed in [13] where the open loop control is designed.…”

Section: Introductionmentioning

confidence: 99%

Reset Strategy for Output Feedback Multiple Models MRAC Applied to DEAP

2020

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The smart actuators are rapidly developing in the recent years. Dielectric Electroactive Polymer actuators are very important smart actuators due to their features like softness, high force ratio, fast operation and silence. In recent year a set of dynamic models for DEAP actuators have been developed by various authors. Relying on these models it is possible to design an wide range of feedback controllers. In our work, we develop the indirect adaptive controller for Dielectric Electroactive Polymer actuator exploiting the multiple models approach with second layer adaptation. The results presented in this paper prove that in the case of piecewise continuous parameters, the benefits of second level adaptation can be lost. To solve this problem, a new resetting algorithm is proposed. The efficiency of the proposed control method is verified by a simulation on a simple motivation example and DEAP actuator model.

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Section: Introductionmentioning

confidence: 99%

Reset Strategy for Output Feedback Multiple Models MRAC Applied to DEAP

2020

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“…Various control strategies have been developed for trajectory tracking control of DEAP actuators such as PID control [7,13], internal model control [14] and adaptive sliding mode control (SMC) [15]. Among those control strategies, SMC scheme has been widely used to control the hysteresis nonlinearity systems, because SMC scheme can guarantee the global robustness of the systems, and can simply and effectively cope with parameters variation and external disturbances [16].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

Wang

et al. 2019

Applied Sciences

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Dielectric electro-active polymer (DEAP) materials, also called artificial muscle, are a kind of EAP smart materials with extraordinary strains up to 30% at a high driving voltage. However, the asymmetric rate-dependent hysteresis is a barrier for trajectory tracking control of DEAP actuators. To overcome the barrier, in this paper, a Hammerstein model is established for the asymmetric rate-dependent hysteresis of a DEAP actuator first, in which a modified Prandtl-Ishlinskii (MPI) model is used to represent the static hysteresis nonlinear part, and an autoregressive with exogenous inputs (ARX) model is used to represent the linear dynamic part. Applying Levenberg-Marquardt (LM) algorithm identifies the parameters of the Hammerstein model. Then, based on the MPI model, an inverse hysteresis compensator is obtained to compensate the hysteresis behavior. Finally, a compound controller consisting of the hysteresis compensator and a novel discrete-time terminal sliding mode controller (DTSMC) without state observer is proposed to achieve the high-precision trajectory tracking control. Stability analysis of the closed-loop system is verified by using Lyapunov stability theorem. Experimental results based on a DEAP actuator show that the proposed controller has better tracking control performance compared with a conventional discrete-time sliding mode controller (DSMC).

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“…For various types of DE transducers different approaches to control their displacement or force (Maas et al, 2011 ; Sarban and Jones, 2012 ; Rizzello et al, 2015 ; Wilson et al, 2016 ; Hoffstadt and Maas, 2017 , 2018b ) or to use them for active vibration attenuation (Dubois et al, 2008 ; Kaal and Herold, 2011 ; Sarban, 2011 ) have been presented previously. Within these approaches the control variables are directly measured with external sensors, so that the DE transducer is only operated as actuator.…”

Section: Introductionmentioning

confidence: 99%

“…Under consideration of the properties of the bidirectional flyback converter and the DE transducer, we previously published sensor-based position and force controls in Hoffstadt and Maas ( 2017 , 2018b ) that use the directly measured deformation as feedback-signal, cf. Figure 1 .…”

Section: Introductionmentioning

confidence: 99%

“…The developed estimator does not require any superimposed excitation. The subsequently presented controller design (Hoffstadt and Maas, 2017 , 2018b ) is based on the sliding mode control approach (DeCarlo et al, 1988 ) as this is well suited for the considered control plant and its characteristic behavior. The self-sensing estimator and control are experimentally validated in section 5.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Self-Sensing Control for Soft-Material Actuators Based on Dielectric Elastomers

Hoffstadt

Maas

2019

Front. Robot. AI

Self Cite

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Due to their energy density and softness that are comparable to human muscles dielectric elastomer (DE) transducers are well-suited for soft-robotic applications. This kind of transducer combines actuator and sensor functionality within one transducer so that no external senors to measure the deformation or to detect collisions are required. Within this contribution we present a novel self-sensing control for a DE stack-transducer that allows to control several different quantities of the DE transducer with the same controller. This flexibility is advantageous e.g., for the development of human machine interfaces with soft-bodied robots. After introducing the DE stack-transducer that is driven by a bidirectional flyback converter, the development of the self-sensing state and disturbance estimator based on an extended Kalman-filter is explained. Compared to known estimators designed for DE transducers supplied by bulky high-voltage amplifiers this one does not require any superimposed excitation to enable the sensor capability so that it also can be used with economic and competitive power electronics like the flyback converter. Due to the behavior of this converter a sliding mode energy controller is designed afterwards. By introducing different feed-forward controls the voltage, force or deformation can be controlled. The validation proofs that both the developed self-sensing estimator as well as the self-sensing control yield comparable results as previously published sensor-based approaches.

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Adaptive Sliding-Mode Position Control for Dielectric Elastomer Actuators

Cited by 47 publications

References 33 publications

Reset Strategy for Output Feedback Multiple Models MRAC Applied to DEAP

Reset Strategy for Output Feedback Multiple Models MRAC Applied to DEAP

Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

Self-Sensing Control for Soft-Material Actuators Based on Dielectric Elastomers

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